Joint control of a robotic arm using particle swarm optimization based H2/H∞ robust control on arduino

Abstract

This paper proposes a small structure of robust controller to control robotic arm's joints where exist some uncertainties and unmodelled dynamics. Robotic arm is widely used now in the era of Industry 4.0. Nevertheless, the cost for an industry to migrate from a conventional automatic machine to industrial robot still very high. This become a significant challenge to middle or small size industry. Development of a low cost industrial robotic arm can be one of good solutions for them. However, a low-cost manipulator can bring more uncertainties. There might be exist more unmodelled dynamic in a low-cost system. A good controller to overcome such uncertainties and unmodelled dynamics is robust controller. A low-cost robotic arm might use small or medium size embedded controller such as Arduino. Therefore, the control algorithm should be a small order of controller. The synthesized controller was tested using MATLAB and then implemented on the real hardware to control a robotic manipulator. Both the simulation and the experiment showed that the proposed controller performed satisfactory results. It can control the joint position to the desired position even in the presence of uncertainties such as unmodelled dynamics and variation of loads or manipulator poses.

Robotic arm joint position control using iterative learning and mixed sensitivity H∞ robust controller

“…These findings enhance our understanding that the mixed sensitivy ∞ Robust controller can guarantee stability over the uncertainties for example the load variation and the iterative learning controller will fix the limitation of the tracking performance of the robust controller over time along with the repetition. The tracking performance of the mixed sensitivy ∞ robust controller will not be the best tracking because the controller works as an optimal controller that provides the optimal performance in the range of uncertainties [27]. Therefore, its tracking performance was designed to be improved by the ILC.…”

Medical remotely caring with COVID-19 virus infected people using optimized wireless arm tracing system

“…PSO is an easy type of optimization algorithms that is used in many applications in different fields as engineering and science for example, data mining, image processing, machine learning and various other fields [21,22]. Initially, PSO introduced by James Kennedy and Russell C. Eberhert in 1995 [23]. At the beginneing, they were working for developping a model to describe the animals' social behaviors as school of fish.…”

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“…Robotic systems have grown broadly due to their increasing applications in all fields of industry and their ability to decrease errors and wastage of material. Many different robotic systems have been developed for invasive proposes [3], [4]. The robotic arms could initially be used to move objects from one place to another [5], [6] in any industrial area [7], [8] that needs to achieve tasks repetitively for manufacturing products.…”